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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_SEARCH_SEARCH_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_SEARCH_SEARCH_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/for_each_type.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/concatenate.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/copy_point.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>search</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html">   74</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1search_1_1_search.html">Search</a></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;pcl::search::Search&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const pcl::search::Search&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; IndicesPtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const std::vector&lt;int&gt; &gt; IndicesConstPtr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a77f437ecf7fa36987632db9c2b450441">Search</a> (<span class="keyword">const</span> std::string&amp; name = <span class="stringliteral">&quot;&quot;</span>, <span class="keywordtype">bool</span> sorted = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a25fbcca7b8f88fdf464f8c9af576626c">   92</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a25fbcca7b8f88fdf464f8c9af576626c">~Search</a> ()</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keyword">virtual</span> <span class="keyword">const</span> std::string&amp; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a58f09ccdd4f9296a3462f902f78ee544">getName</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">setSortedResults</a> (<span class="keywordtype">bool</span> sorted);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a0ab66bf51224fca916cc193e953d39d8">getSortedResults</a> ();</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr&amp; cloud, </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                       <span class="keyword">const</span> IndicesConstPtr &amp;indices = IndicesConstPtr ());</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keyword">virtual</span> PointCloudConstPtr</div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#ac4a83e895b2a11e89319673117a927fa">  125</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#ac4a83e895b2a11e89319673117a927fa">getInputCloud</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <span class="keywordflow">return</span> (input_);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keyword">virtual</span> IndicesConstPtr</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a0ba8e4114e97c267970b79fe6cf3697e">  132</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a0ba8e4114e97c267970b79fe6cf3697e">getIndices</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          <span class="keywordflow">return</span> (indices_);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">  146</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">int</span> k, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                        std::vector&lt;float&gt; &amp;k_sqr_distances) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>TDiff&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#abe2901bec8399fdd4d62a4275d89528b">  159</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#abe2901bec8399fdd4d62a4275d89528b">nearestKSearchT</a> (<span class="keyword">const</span> PointTDiff &amp;point, <span class="keywordtype">int</span> k,</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                         std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <a class="code" href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">copyPoint</a> (point, p);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">nearestKSearch</a> (p, k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k,</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                        std::vector&lt;int&gt; &amp;k_indices, </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                        std::vector&lt;float&gt; &amp;k_sqr_distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">nearestKSearch</a> (<span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k,</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                        std::vector&lt;int&gt; &amp;k_indices, </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                        std::vector&lt;float&gt; &amp;k_sqr_distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                        <span class="keywordtype">int</span> k, std::vector&lt; std::vector&lt;int&gt; &gt;&amp; k_indices,</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                        std::vector&lt; std::vector&lt;float&gt; &gt;&amp; k_sqr_distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>TDiff&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a5388aab8b46f3180b8ebe9001f1e75eb">  231</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a5388aab8b46f3180b8ebe9001f1e75eb">nearestKSearchT</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTDiff&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, <span class="keywordtype">int</span> k, std::vector&lt; std::vector&lt;int&gt; &gt; &amp;k_indices,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                         std::vector&lt; std::vector&lt;float&gt; &gt; &amp;k_sqr_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          <span class="comment">// Copy all the data fields from the input cloud to the output one</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldListInT;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointTDiff&gt;::type</a> FieldListOutT;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::intersect&lt;FieldListInT, FieldListOutT&gt;::type FieldList;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> pc;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;            pc.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (cloud.size());</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size(); i++)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;              pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1_nd_concatenate_functor.html">pcl::NdConcatenateFunctor &lt;PointTDiff, PointT&gt;</a> (</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;                                              cloud[i], pc[i]));</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            <a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">nearestKSearch</a> (pc,std::vector&lt;int&gt;(),k,k_indices,k_sqr_distances);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            pc.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (indices.size());</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size(); i++)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;              pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1_nd_concatenate_functor.html">pcl::NdConcatenateFunctor &lt;PointTDiff, PointT&gt;</a> (</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                                              cloud[indices[i]], pc[i]));</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            <a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">nearestKSearch</a> (pc,std::vector&lt;int&gt;(),k,k_indices,k_sqr_distances);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;          }</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">  273</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keywordtype">double</span> radius, std::vector&lt;int&gt;&amp; k_indices,</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                      std::vector&lt;float&gt;&amp; k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>TDiff&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a817886100e51afd9d20f323eb095ca2e">  287</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a817886100e51afd9d20f323eb095ca2e">radiusSearchT</a> (<span class="keyword">const</span> PointTDiff &amp;point, <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                       std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0)<span class="keyword"> const</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;          <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;          <a class="code" href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">copyPoint</a> (point, p);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">radiusSearch</a> (p, radius, k_indices, k_sqr_distances, max_nn));</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;                      std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">radiusSearch</a> (<span class="keywordtype">int</span> index, <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                      std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud,</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                      <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices,</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                      <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                      std::vector&lt; std::vector&lt;int&gt; &gt;&amp; k_indices,</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;                      std::vector&lt; std::vector&lt;float&gt; &gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;                      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>TDiff&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a474c6a0dd4e8fbf9c7f0840c22fb931d">  370</a></span>&#160;        <a class="code" href="classpcl_1_1search_1_1_search.html#a474c6a0dd4e8fbf9c7f0840c22fb931d">radiusSearchT</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTDiff&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;                       <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices,</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;                       <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;                       std::vector&lt; std::vector&lt;int&gt; &gt; &amp;k_indices,</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;                       std::vector&lt; std::vector&lt;float&gt; &gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;                       <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0)<span class="keyword"> const</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;          <span class="comment">// Copy all the data fields from the input cloud to the output one</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldListInT;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointTDiff&gt;::type</a> FieldListOutT;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::intersect&lt;FieldListInT, FieldListOutT&gt;::type FieldList;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> pc;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;          <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;          {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;            pc.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (cloud.size ());</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;              pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1_nd_concatenate_functor.html">pcl::NdConcatenateFunctor &lt;PointTDiff, PointT&gt;</a> (cloud[i], pc[i]));</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;            <a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">radiusSearch</a> (pc, std::vector&lt;int&gt; (), radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;          }</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;          {</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;            pc.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (indices.size ());</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;              pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1_nd_concatenate_functor.html">pcl::NdConcatenateFunctor &lt;PointTDiff, PointT&gt;</a> (cloud[indices[i]], pc[i]));</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;            <a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">radiusSearch</a> (pc, std::vector&lt;int&gt;(), radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;          }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        sortResults (std::vector&lt;int&gt;&amp; indices, std::vector&lt;float&gt;&amp; distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        PointCloudConstPtr input_;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        IndicesConstPtr indices_;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        <span class="keywordtype">bool</span> sorted_results_;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        std::string name_;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00409"></a><span class="lineno"><a class="line" href="structpcl_1_1search_1_1_search_1_1_compare.html">  409</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1search_1_1_search_1_1_compare.html">Compare</a></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        {</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;          <a class="code" href="structpcl_1_1search_1_1_search_1_1_compare.html">Compare</a> (<span class="keyword">const</span> std::vector&lt;float&gt;&amp; distances)</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;          : distances_ (distances)</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;          {</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;          }</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;          </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;          <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;          operator () (<span class="keywordtype">int</span> first, <span class="keywordtype">int</span> second)<span class="keyword"> const</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;            <span class="keywordflow">return</span> (distances_ [first] &lt; distances_[second]);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          }</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          <span class="keyword">const</span> std::vector&lt;float&gt;&amp; distances_;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        };</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    }; <span class="comment">// class Search    </span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  } <span class="comment">// namespace search</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="preprocessor">#include &lt;pcl/search/impl/search.hpp&gt;</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef _PCL_SEARCH_SEARCH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a></div><div class="ttdoc">Generic search class. All search wrappers must inherit from this.</div><div class="ttdef"><b>Definition:</b> search.h:75</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a0ab66bf51224fca916cc193e953d39d8"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a0ab66bf51224fca916cc193e953d39d8">pcl::search::Search::getSortedResults</a></div><div class="ttdeci">virtual bool getSortedResults()</div><div class="ttdoc">Gets whether the results should be sorted (ascending in the distance) or not Otherwise the results ma...</div><div class="ttdef"><b>Definition:</b> search.hpp:69</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a0ba8e4114e97c267970b79fe6cf3697e"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a0ba8e4114e97c267970b79fe6cf3697e">pcl::search::Search::getIndices</a></div><div class="ttdeci">virtual IndicesConstPtr getIndices() const</div><div class="ttdoc">Get a pointer to the vector of indices used.</div><div class="ttdef"><b>Definition:</b> search.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a25fbcca7b8f88fdf464f8c9af576626c"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a25fbcca7b8f88fdf464f8c9af576626c">pcl::search::Search::~Search</a></div><div class="ttdeci">virtual ~Search()</div><div class="ttdef"><b>Definition:</b> search.h:92</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a3f7aa9ba73d098c204bc8a6b9dd293dc"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">pcl::search::Search::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Pass the input dataset that the search will be performed on.</div><div class="ttdef"><b>Definition:</b> search.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a441f41e648d284d68e1f2015d40f5e7c"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">pcl::search::Search::radiusSearch</a></div><div class="ttdeci">virtual int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const =0</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a474c6a0dd4e8fbf9c7f0840c22fb931d"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a474c6a0dd4e8fbf9c7f0840c22fb931d">pcl::search::Search::radiusSearchT</a></div><div class="ttdeci">void radiusSearchT(const pcl::PointCloud&lt; PointTDiff &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, double radius, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;k_indices, std::vector&lt; std::vector&lt; float &gt; &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">Search for all the nearest neighbors of the query points in a given radius.</div><div class="ttdef"><b>Definition:</b> search.h:370</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a5388aab8b46f3180b8ebe9001f1e75eb"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a5388aab8b46f3180b8ebe9001f1e75eb">pcl::search::Search::nearestKSearchT</a></div><div class="ttdeci">void nearestKSearchT(const pcl::PointCloud&lt; PointTDiff &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, int k, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;k_indices, std::vector&lt; std::vector&lt; float &gt; &gt; &amp;k_sqr_distances) const</div><div class="ttdoc">Search for the k-nearest neighbors for the given query point. Use this method if the query points are...</div><div class="ttdef"><b>Definition:</b> search.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a58f09ccdd4f9296a3462f902f78ee544"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a58f09ccdd4f9296a3462f902f78ee544">pcl::search::Search::getName</a></div><div class="ttdeci">virtual const std::string &amp; getName() const</div><div class="ttdoc">Returns the search method name</div><div class="ttdef"><b>Definition:</b> search.hpp:55</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a77f437ecf7fa36987632db9c2b450441"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a77f437ecf7fa36987632db9c2b450441">pcl::search::Search::Search</a></div><div class="ttdeci">Search(const std::string &amp;name=&quot;&quot;, bool sorted=false)</div><div class="ttdef"><b>Definition:</b> search.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a817886100e51afd9d20f323eb095ca2e"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a817886100e51afd9d20f323eb095ca2e">pcl::search::Search::radiusSearchT</a></div><div class="ttdeci">int radiusSearchT(const PointTDiff &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> search.h:287</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a97b4eff97eaa23d4586ca9b16d1b0671"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">pcl::search::Search::nearestKSearch</a></div><div class="ttdeci">virtual int nearestKSearch(const PointT &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const =0</div><div class="ttdoc">Search for the k-nearest neighbors for the given query point.</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_abe2901bec8399fdd4d62a4275d89528b"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#abe2901bec8399fdd4d62a4275d89528b">pcl::search::Search::nearestKSearchT</a></div><div class="ttdeci">int nearestKSearchT(const PointTDiff &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</div><div class="ttdoc">Search for k-nearest neighbors for the given query point. This method accepts a different template pa...</div><div class="ttdef"><b>Definition:</b> search.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_ac4a83e895b2a11e89319673117a927fa"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#ac4a83e895b2a11e89319673117a927fa">pcl::search::Search::getInputCloud</a></div><div class="ttdeci">virtual PointCloudConstPtr getInputCloud() const</div><div class="ttdoc">Get a pointer to the input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> search.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_af5e9ca2efdb199e64d05c399ea4a4412"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">pcl::search::Search::setSortedResults</a></div><div class="ttdeci">virtual void setSortedResults(bool sorted)</div><div class="ttdoc">sets whether the results should be sorted (ascending in the distance) or not</div><div class="ttdef"><b>Definition:</b> search.hpp:62</div></div>
<div class="ttc" id="agroup__common_html_gab978bf1754771246b2f140a5b52a8f8b"><div class="ttname"><a href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">pcl::copyPoint</a></div><div class="ttdeci">void copyPoint(const PointInT &amp;point_in, PointOutT &amp;point_out)</div><div class="ttdoc">Copy the fields of a source point into a target point.</div><div class="ttdef"><b>Definition:</b> copy_point.hpp:138</div></div>
<div class="ttc" id="astructpcl_1_1_nd_concatenate_functor_html"><div class="ttname"><a href="structpcl_1_1_nd_concatenate_functor.html">pcl::NdConcatenateFunctor</a></div><div class="ttdoc">Helper functor structure for concatenate.</div><div class="ttdef"><b>Definition:</b> concatenate.h:65</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1search_1_1_search_1_1_compare_html"><div class="ttname"><a href="structpcl_1_1search_1_1_search_1_1_compare.html">pcl::search::Search::Compare</a></div><div class="ttdef"><b>Definition:</b> search.h:410</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
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